Control Library by altb
Dependents: My_Libraries IndNav_QK3_T265
Diff: PID_Cntrl.h
- Revision:
- 3:27595dd9e433
- Parent:
- 2:e7c9e50a2e46
- Child:
- 5:d8c53cece01b
diff -r e7c9e50a2e46 -r 27595dd9e433 PID_Cntrl.h --- a/PID_Cntrl.h Fri Jun 14 07:05:55 2019 +0000 +++ b/PID_Cntrl.h Fri Jul 05 06:56:49 2019 +0000 @@ -18,6 +18,9 @@ float doStep(float error); void set_limits(float ,float ); float get_ulimit(void); + void setCoeff_P(float); + void setCoeff_I(float); + void setCoeff_D(float); private: @@ -25,11 +28,10 @@ float eold,yold,del; float uMax; float uMin; - float Ts; + float Ts,tau_f; float P,I,D_; float p, Ka; void setCoefficients(float P, float I, float D, float tau_f, float Ts); - }; #endif // #PID_CNTRL_H \ No newline at end of file